CN101417698B - A method and control device for underwater dumping - Google Patents

Abstract

Translated fromChinese

本发明涉及水下抛载技术，具体地说是一种用于水下抛载的方法及控制装置。其抛载方法基于电热原理的抛载控制方式，采用电阻丝材料为抛载用挂接物、电容为储能元件，所述储能元件自接收到抛载信号后将事先存储在其中的电量在微秒级的时间内释放，以熔断电阻丝的方式实现稳定、快速、可靠地抛载。

The invention relates to underwater dumping technology, in particular to a method and control device for underwater dumping. Its load dumping method is based on the load dumping control method of the electrothermal principle. The resistance wire material is used as the mount for load dumping, and the capacitor is used as the energy storage element. It is released within microseconds and realizes stable, fast and reliable load dumping by fusing the resistance wire.

Description

Translated fromChinese

一种用于水下抛载的方法及控制装置A method and control device for underwater dumping

技术领域technical field

本发明涉及水下抛载技术，具体地说是一种水下设备使用的抛载方法及控制装置。The invention relates to an underwater dumping technology, in particular to a dumping method and a control device for underwater equipment.

背景技术Background technique

目前常见水下设备的水下抛载方式有如下几种。At present, the underwater dumping methods of common underwater equipment are as follows.

机械式抛载：通常利用电机或电磁铁作为动力部件，以产生机械抛载动作。这种装置的缺点是体积较大，成本高，而且机械动作容易失效，由于使用电机、电磁铁等较大功率器件，导致这种装置的功耗很大；同时在海洋环境中使用时，该装置也容易受到电化学腐蚀及生物污染的干扰。Mechanical dumping: Usually, a motor or an electromagnet is used as a power component to generate a mechanical dumping action. The disadvantage of this device is that it is large in size, high in cost, and the mechanical action is prone to failure. Due to the use of relatively large power devices such as motors and electromagnets, the power consumption of this device is large; at the same time, when used in a marine environment, the device Devices are also susceptible to interference from galvanic corrosion and biological contamination.

电化学腐蚀抛载：是利用海水的电化学腐蚀反应将悬挂压载的“腐蚀线”慢慢腐蚀断。这种装置的成本较低，但是腐蚀速度较慢。生物污染也会使装置与海水绝缘，从而阻止有效腐蚀。这种装置只能挂较轻的压载，要挂较重的压载就要加粗“腐蚀线”，这就增加了腐蚀的难度；该方法还有个局限性就是在淡水中难以使用。Electrochemical corrosion dumping: it uses the electrochemical corrosion reaction of seawater to slowly corrode the "corrosion line" of the suspended ballast. The cost of this device is lower, but the corrosion rate is slower. Biofouling also insulates the unit from seawater, preventing effective corrosion. This kind of device can only hang lighter ballast. To hang heavier ballast, the "corrosion line" must be thickened, which increases the difficulty of corrosion. Another limitation of this method is that it is difficult to use in fresh water.

爆炸螺栓式抛载：利用引爆装置切断用来固定压载的螺栓以产生抛载动作。这种装置适用于从几百千克到几百吨的超大质量压载的释放，成本高，爆炸冲击大，不适合用于水下机器人等这样的设备。Explosive Bolt Dump: A detonating device is used to cut off the bolts used to secure the ballast to produce the dump action. This device is suitable for the release of supermassive mass ballast from hundreds of kilograms to hundreds of tons, but it has high cost and large explosion impact, and is not suitable for such equipment as underwater robots.

发明内容Contents of the invention

本发明的目的在于采用一种能实现稳定、快速、可靠地抛载的水下设备使用的抛载方法及控制装置。The object of the present invention is to adopt a load dumping method and control device for underwater equipment that can realize stable, fast and reliable load dumping.

为了实现上述目的，本发明的技术方案如下：用于水下抛载方法：基于电热原理的抛载控制方式，采用电阻丝材料为抛载用挂接物、电容为储能元件，所述储能元件自接收到抛载信号后将事先存储在其中的电量在微秒级的时间内释放，以熔断电阻丝的方式实现稳定、快速、可靠地抛载；In order to achieve the above object, the technical scheme of the present invention is as follows: For underwater load dumping method: based on the electrothermal principle of load dumping control mode, the resistance wire material is used as the attachment for load dumping, and the capacitor is the energy storage element. After receiving the load dump signal, the energy element releases the power stored in it in microseconds, and realizes stable, fast and reliable load dumping by fusing the resistance wire;

为了安全起见，当储能元件中有剩余电量时，设立释放通道；所述电阻丝材料为镍铬合金丝；电阻丝材料阻值在5mΩ～10mΩ的范围内。For the sake of safety, when there is remaining electricity in the energy storage element, a release channel is set up; the material of the resistance wire is nickel-chromium alloy wire; the resistance value of the resistance wire material is in the range of 5mΩ-10mΩ.

控制装置：包括动作控制系统，储能元件，电热合金丝，所述动作控制系统经储能元件与安装在电热合金丝固定座上的电热合金丝相连；Control device: including an action control system, an energy storage element, and an electrothermal alloy wire. The action control system is connected to the electrothermal alloy wire installed on the electrothermal alloy wire fixing seat through the energy storage element;

所述动作控制系统可由电池供电，以单片机为核心器件，还包括UART串口，充电开关，放电开关，余电释放开关，升压模块，消耗电阻，单片机接收接受外部抛载指令，分别经充电开关，放电开关，余电释放开关与升压模块，与安装在电热合金丝固定座上的电热合金丝及能量消耗电阻相连；升压模块将所升高的电池电压送至储能元件，对储能元件充电；所述能量消耗电阻接地，用于消耗掉储能元件上的剩余电量；压载挂接到电热合金丝上；所述储能元件采用至少一个电容，电容个数为2个以上时并联连接；接到放电开关上的电热合金丝固定座中的第一螺栓和第二螺栓之间的中心距离为5mm-15mm。The action control system can be powered by a battery, with a single-chip microcomputer as the core device, and also includes a UART serial port, a charging switch, a discharge switch, a residual power release switch, a boost module, and a consumption resistor. , the discharge switch, the residual power release switch and the boost module are connected with the electrothermal alloy wire installed on the electrothermal alloy wire holder and the energy consumption resistor; the boost module sends the raised battery voltage to the energy storage element, The energy element is charged; the energy consumption resistor is grounded to consume the remaining power on the energy storage element; the ballast is hooked to the electrothermal alloy wire; the energy storage element uses at least one capacitor, and the number of capacitors is more than two When connected in parallel; the center distance between the first bolt and the second bolt in the electric heating alloy wire fixing seat connected to the discharge switch is 5mm-15mm.

本发明装置中动作控制系统通过UART串行接口接收外部传来的抛载指令信号。一旦接收到抛载指令信号，动作控制系统就开始控制充电开关、放电开关、余电释放开关，产生充电-放电-释放剩余电量等一系列动作。动作控制系统采用单片机进行控制。储能元件自接收到抛载信号后开始充电，在延迟一定时间后，对电热合金丝进行瞬间放电，使其熔断。电热合金丝固定座的作用为拧紧、固定电热合金丝，使电热合金丝能够挂接一定质量的压载，并且能够在需要的时候方便地更换电热合金丝。The action control system in the device of the present invention receives the dumping instruction signal transmitted from the outside through the UART serial interface. Once the load dump command signal is received, the action control system starts to control the charging switch, discharging switch, and residual power release switch to generate a series of actions such as charging-discharging-releasing the remaining power. The motion control system is controlled by a single chip microcomputer. The energy storage element starts to charge after receiving the load dump signal, and after a certain time delay, it discharges the electric heating alloy wire instantaneously to make it fuse. The function of the electric heating alloy wire fixing seat is to tighten and fix the electric heating alloy wire, so that the electric heating alloy wire can be connected with a certain quality of ballast, and the electric heating alloy wire can be easily replaced when needed.

本发明具有如下有益效果：The present invention has following beneficial effect:

1.与现有技术中的机械抛载装置相比，本发明具有成本较低，结构简单的特点，并回避了容易受到电化学腐蚀及生物污染的干扰的不足。1. Compared with the mechanical dumping device in the prior art, the present invention has the characteristics of lower cost and simple structure, and avoids the shortcomings of being easily disturbed by electrochemical corrosion and biological pollution.

2.由于抛载动作在瞬间完成，本发明更具有动作迅速的特点。2. Since the dumping action is completed in an instant, the present invention has the characteristics of quick action.

3.由于没有电机、电磁铁等较大功率器件，也不需要常通电流以维持系载，因此本发明还具有节省电能的特点。3. Since there are no larger power devices such as motors and electromagnets, and no constant current is required to maintain the load, the present invention also has the feature of saving electric energy.

4.由于动作不容易收到海洋生物污染干扰，在海水及淡水中均可使用，因此本发明具有动作可靠，应用范围宽的特点。4. Since the action is not easily disturbed by marine biological pollution and can be used in both seawater and fresh water, the present invention has the characteristics of reliable action and wide application range.

5.由于镍铬合金丝具有较大的抗拉强度，因此本发明具有能够承受较大压载质量的特点。5. Since the nickel-chromium alloy wire has a relatively large tensile strength, the present invention has the characteristic of being able to bear a large ballast mass.

附图说明Description of drawings

图1为本发明装置结构示意图。Fig. 1 is a schematic diagram of the structure of the device of the present invention.

图2为动作控制系统原理图。Figure 2 is a schematic diagram of the motion control system.

图3为储能元件结构示意图。Fig. 3 is a schematic diagram of the structure of the energy storage element.

图4为电热合金丝固定座结构示意图。Fig. 4 is a schematic diagram of the structure of the electrothermal alloy wire fixing seat.

图5为本发明抛载动作流程图。Fig. 5 is a flow chart of the dumping action of the present invention.

具体实施方式Detailed ways

下面结合附图和实施例对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

本发明用于水下抛载的方法：基于电热原理的抛载控制方式，采用具有5mΩ～10mΩ阻值的电阻丝材料为抛载用挂接物，使用电容为储能元件，所述储能元件自接收到抛载信号后将事先存储在其中的电量在微秒级的时间内释放，以熔断电阻丝的方式实现稳定、快速、可靠地抛载。所述电阻丝材料为镍铬合金丝。The method of the present invention for underwater load dumping: the load dumping control method based on the electrothermal principle, the resistance wire material with a resistance value of 5mΩ～10mΩ is used as the attachment for load dumping, and the capacitor is used as the energy storage element, and the energy storage After the component receives the load dump signal, it releases the electricity stored in it in microseconds, and realizes stable, fast and reliable load dumping by blowing the resistance wire. The material of the resistance wire is nickel-chromium alloy wire.

如图1所示，本发明用于水下抛载的装置包括：动作控制系统1，储能元件2，电热合金丝35，所述动作控制系统1经储能元件2与安装在电热合金丝固定座3上的电热合金丝35相连。As shown in Figure 1, the device for underwater load dumping of the present invention includes: an action control system 1, an energy storage element 2, and an electrothermal alloy wire 35. The electrothermal alloy wire 35 on thefixing seat 3 is connected.

图2所示动作控制系统1可由电池供电，产生的电压是VBat 11，本实施例为5V。动作控制系统1的核心器件是一个单片机MCU，存有抛载动作程序；还包括UART串口13，充电开关14，放电开关15，余电释放开关16，升压模块17，消耗电阻R19，单片机MCU接收接受外部抛载指令，分别经充电开关14，放电开关15，余电释放开关16与升压模块17，安装在电热合金丝固定座3上的电热合金丝及能量消耗电阻R19相连；升压模块17将所升高的电池电压送至储能元件2，对储能元件充电；放电开关15连接到电热合金丝，用于在瞬间将电热合金丝熔断；所述能量消耗电阻R19接地，用于消耗掉储能元件上的剩余电量；压载36挂接到电热合金丝35上。Action control system 1 shown in Fig. 2 can be powered by battery, and the voltage that produces is VBat 11, and the present embodiment is 5V. The core device of the action control system 1 is a single-chip MCU, which stores the dumping action program; it also includes a UART serial port 13, a charging switch 14, adischarging switch 15, a residual power release switch 16, a boost module 17, a consumption resistor R19, and a single-chip MCU Receiving and accepting the external load dumping command, respectively through the charging switch 14, thedischarge switch 15, the residual power release switch 16 and the boost module 17, the electrothermal alloy wire installed on the electrothermal alloywire fixing seat 3 and the energy consumption resistor R19 are connected; The module 17 sends the raised battery voltage to the energy storage element 2 to charge the energy storage element; thedischarge switch 15 is connected to the electrothermal alloy wire to fuse the electrothermal alloy wire in an instant; the energy consumption resistor R19 is grounded and used to To consume the remaining power on the energy storage element; theballast 36 is hooked to the electrothermal alloy wire 35 .

参见图3，储能元件2采用大容量电容C21。电容C21的关键参数是其耐压值和容量值，耐压值越高，容量越大，则抛载时瞬间释放的能量越大。电容的个数可以随意扩展，并联连接，最少电容个数要根据抛载所用的电热合金丝的熔断电量需求确定。Referring to FIG. 3 , the energy storage element 2 adopts a large-capacity capacitor C21. The key parameters of capacitor C21 are its withstand voltage value and capacity value. The higher the withstand voltage value and the larger the capacity, the greater the energy released instantaneously when the load is dumped. The number of capacitors can be expanded arbitrarily and connected in parallel. The minimum number of capacitors should be determined according to the fusing power demand of the electrothermal alloy wire used for load dumping.

参见图4，电热合金丝固定座3中的第一螺栓31和第二螺栓32是两根固定用螺栓，它们接到放电开关15上。在第一螺栓31和第二螺栓32上开设第一孔33和第二孔34，电热合金丝35的两端分别穿过这两个孔，最终拧紧固定。第一螺栓31和第二螺栓32之间的中心距离要小于15mm，本实施例选择10mm。压载36通过一根绝缘线37挂接到电热合金丝35上。本实施例选用的电热合金丝能够承受的压载重量约为18kg。电热合金丝能够承受的压载质量与其横截面积成正比，因此电热合金丝越粗，能够承受的压载质量越大。同样，要想将其熔断，消耗的热量就越多(熔断难度越大)。Referring to FIG. 4 , thefirst bolt 31 and thesecond bolt 32 in the electric heating alloywire fixing seat 3 are two fixing bolts, and they are connected to thedischarge switch 15 . Afirst hole 33 and asecond hole 34 are provided on thefirst bolt 31 and thesecond bolt 32 , and the two ends of the electrothermal alloy wire 35 respectively pass through the two holes, and are finally tightened and fixed. The center distance between thefirst bolt 31 and thesecond bolt 32 should be less than 15 mm, and 10 mm is selected in this embodiment. Theballast 36 is hooked to the electrothermal alloy wire 35 through an insulatedwire 37 . The electrothermal alloy wire selected in this embodiment can withstand a ballast weight of about 18kg. The ballast quality that the electrothermal alloy wire can bear is proportional to its cross-sectional area, so the thicker the electrothermal alloy wire is, the greater the ballast quality it can bear. Similarly, the more heat it consumes (the more difficult it is to fuse) to fuse it.

余电释放开关16作为释放通道，用以实现安全动作。所述电热合金丝是一种具有一定阻抗的电阻，最常见的是电热炉中的热电阻丝。本实施例采用的电热合金丝是一种镍铬合金丝，当然也可以使用其他具有合适阻抗及抗拉强度的电热合金丝。The residual current release switch 16 is used as a release channel to realize safety action. The electrothermal alloy wire is a resistance with a certain resistance, and the most common one is a thermal resistance wire in an electric heating furnace. The electrothermal alloy wire used in this embodiment is a nickel-chromium alloy wire, and of course other electrothermal alloy wires with suitable impedance and tensile strength can also be used.

工作原理如下：It works as follows:

抛载的基本原理是利用电流通过电阻时发热的现象，当通过电热合金丝的电流达到一定值时，电热合金丝产生的热量可使其达到自身熔点从而熔断。The basic principle of load dumping is to use the phenomenon of heating when the current passes through the resistance. When the current passing through the electric heating alloy wire reaches a certain value, the heat generated by the electric heating alloy wire can make it reach its own melting point and fuse.

本发明整个动作控制系统通过UART串口13接受外部抛载指令。一旦接收到外部抛载指令，单片机MCU将开启充电开关14，通过升压模块17将电池电压VBat 11升高到一个足够高的值VRel 18，这个电压连接到储能元件2，对储能元件充电。当储能元件充电完成后，单片机MCU将开启放电开关15，该开关连接到电热合金丝固定座3，在瞬间将电热合金丝熔断。当电热合金丝熔断后，储能元件2一般会有剩余电量，这时为了安全起见，单片机MCU要开启余电释放开关16，通过能量消耗电阻R19消耗掉储能元件上的电能(剩余电量)。The entire motion control system of the present invention accepts external dumping instructions through the UART serial port 13 . Once the external load dump command is received, the single-chip MCU will turn on the charging switch 14, and the battery voltage VBat 11 will be raised to a sufficiently high value VRel 18 through the boost module 17. This voltage is connected to the energy storage element 2, and the energy storage element Charge. After the charging of the energy storage element is completed, the single-chip MCU will turn on thedischarge switch 15, which is connected to the electric heating alloywire fixing seat 3, and the electric heating alloy wire will be fused in an instant. When the electrothermal alloy wire is fused, the energy storage element 2 will generally have a remaining power. At this time, for safety reasons, the single-chip MCU will turn on the residual power release switch 16, and consume the electric energy (remaining power) on the energy storage element through the energy consumption resistor R19. .

参见图5，抛载动作流程为：动作控制系统接收到抛载指令信号后启动充电开关进行充电，经过一段延时充电完成，之后启动放电开关进行瞬间放电，最后启动余电释放开关释放剩余电量，作一次充电-放电-释放剩余电量循环动作。之后返回有无抛载指令的判断，如无抛载指令，则处于等待状态。See Figure 5, the load dump action flow is: the action control system starts the charging switch to charge after receiving the load dump command signal, after a period of delay charging is completed, then starts the discharge switch for instant discharge, and finally starts the remaining power release switch to release the remaining power , for a cycle of charging-discharging-releasing the remaining power. Afterwards, it returns the judgment of whether there is a dump instruction, and if there is no dump instruction, it is in a waiting state.

Claims (7)

1. one kind is used for the underwater ejection method, it is characterized in that: mode is carried in the throwing based on electrothermal principle, adopt the resistor wire material for throw carry with articulate thing, electric capacity is energy-storage travelling wave tube, described energy-storage travelling wave tube discharges in the time of microsecond level from receiving the electric weight that will be stored in advance wherein behind the throwing year signal, realize throwing in the mode of fusing resistor silk and carry, when in the energy-storage travelling wave tube dump energy being arranged, set up release channel.

2. according to the described underwater ejection method that is used for of claim 1, it is characterized in that: described resistor wire material is a nichrome wire.

3. according to the described underwater ejection method that is used for of claim 1, it is characterized in that: resistor wire material resistance is in the scope of 5m Ω-10m Ω.

4. one kind according to the described control setup that is used for the underwater ejection method of claim 1, it is characterized in that: comprise motion control system (1), energy-storage travelling wave tube (2), lectrothermal alloy wire (35), described motion control system (1) links to each other with lectrothermal alloy wire (35) on being installed in lectrothermal alloy wire permanent seat (3) through energy-storage travelling wave tube (2).

5. according to the described control setup that is used for underwater ejection of claim 4, it is characterized in that: described motion control system (1) can be battery-powered, with micro controller system (MCU) is core devices, also comprise UART serial ports (13), charge switch (14), discharge switch (15), surplus electric release-push (16), boost module (17), dead resistance (R19), micro controller system (MCU) receive accepts the outside year instruction of throwing, respectively through charge switch (14), discharge switch (15), surplus electric release-push (16) and boost module (17) link to each other with lectrothermal alloy wire and expenditure of energy resistance (R19) on being installed in lectrothermal alloy wire permanent seat (3); Boost module (17) is delivered to energy-storage travelling wave tube (2) with the cell pressure that is raise, and energy-storage travelling wave tube is charged; Described expenditure of energy resistance (R19) ground connection is used to consume the dump energy on the energy-storage travelling wave tube; Ballast (36) is articulated on the lectrothermal alloy wire (35).

6. according to the described control setup that is used for underwater ejection of claim 4, it is characterized in that: described energy-storage travelling wave tube (2) adopts at least one electric capacity (C21), and the electric capacity number is 2 and is connected in parallel when above.

7. according to the described control setup that is used for underwater ejection of claim 4, it is characterized in that: receiving first bolt (31) in the lectrothermal alloy wire permanent seat (3) on the discharge switch (15) and the centre distance between second bolt (32) is 5mm-15mm.

Images